#include <RBDyn/RBDyn/Joint.h>

Public Types
enum	Type { Rev, Prism, Spherical, Planar, Cylindrical, Free, Fixed }
	Joint type. More...

enum	OldType { RevX, RevY, RevZ, PrismX, PrismY, PrismZ }
	Old joint type for Api compatibility. More...

Public Member Functions
	Joint ()

	Joint (OldType type, bool forward, std::string name)

	Joint (Type type, const Eigen::Vector3d &axis, bool forward, std::string name)

	Joint (Type type, bool forward, std::string name)

	Joint (std::string name)

void	makeMimic (const std::string &name, double multiplier, double offset)

Type	type () const

double	direction () const

bool	forward () const

void	forward (bool forward)

int	params () const

int	dof () const

const std::string &	name () const

bool	isMimic () const

const std::string &	mimicName () const

double	mimicMultiplier () const

double	mimicOffset () const

const Eigen::Matrix< double, 6, Eigen::Dynamic > &	motionSubspace () const

template<typename T >
sva::PTransform< T >	pose (const std::vector< T > &q) const

sva::MotionVecd	motion (const std::vector< double > &alpha) const

sva::MotionVecd	tanAccel (const std::vector< double > &alphaD) const

std::vector< double >	zeroParam () const

std::vector< double >	zeroDof () const

sva::PTransformd	sPose (const std::vector< double > &q) const

sva::MotionVecd	sMotion (const std::vector< double > &alpha) const

sva::MotionVecd	sTanAccel (const std::vector< double > &alphaD) const

bool	operator== (const Joint &b) const

bool	operator!= (const Joint &b) const

Static Public Member Functions
static std::vector< double >	ZeroParam (Type type)

static std::vector< double >	ZeroDof (Type type)

Detailed Description

Joint representation. Hold joint name (used as identifier) and compute transformation, speed and motion subspace. WARNING : Free joint translation parameters are in FP coordinate (Example 4.5 p81).

Member Enumeration Documentation

◆ OldType

enum rbd::Joint::OldType

Old joint type for Api compatibility.

Enumerator
RevX	Revolute joint about X axis.
RevY	Revolute joint about Y axis.
RevZ	Revolute joint about Z axis.
PrismX	Prismatique joint about X axis.
PrismY	Prismatique joint about Y axis.
PrismZ	Prismatique joint about Z axis.

◆ Type

enum rbd::Joint::Type

Joint type.

Enumerator
Rev	Revolute joint about an user specified axis.
Prism	Prismatic joint about an user specified axis.
Spherical	Spherical joint, represented by a quaternion.
Planar	Planar joint (2 prismatic(X, Y) and 1 revolute(Z)).
Cylindrical	Cylindrical joint (Z prismatic, Z revolute).
Free	Free joint, represented by a quaternion.
Fixed	Fixed joint.

Constructor & Destructor Documentation

◆ Joint() [1/5]

rbd::Joint::Joint ( )

inline

◆ Joint() [2/5]

rbd::Joint::Joint	(	OldType	type,
		bool	forward,
		std::string	name
	)

inline

Compatibility constructor

Parameters

type	Joint type.
forward	Joint is in forward direction if true.
name	Joint name, must be unique in a multibody.

◆ Joint() [3/5]

rbd::Joint::Joint	(	Type	type,
		const Eigen::Vector3d &	axis,
		bool	forward,
		std::string	name
	)

inline

Parameters

type	Joint type.
axis	User specified.
forward	Joint is in forward direction if true.
name	Joint name must be unique in a multibody.

◆ Joint() [4/5]

rbd::Joint::Joint	(	Type	type,
		bool	forward,
		std::string	name
	)

inline

Parameters

type	Joint type.
forward	Joint is in forward direction if true.
name	Joint name, must be unique in a multibody.

◆ Joint() [5/5]

rbd::Joint::Joint ( std::string name )

inline

Creates a fixed joint

Parameters

name	Joint name, must be unique in a multibody.

Member Function Documentation

◆ direction()

double rbd::Joint::direction ( ) const

inline

Returns: Joint direction.

◆ dof()

int rbd::Joint::dof ( ) const

inline

Number of degree of freedom of the joint.

Returns: Number of generalized speed and acceleration variable.

◆ forward() [1/2]

bool rbd::Joint::forward ( ) const

inline

Returns: true if joint is forward, else false.

◆ forward() [2/2]

void rbd::Joint::forward ( bool forward )

inline

Parameters

forward Put the joint in forward direction if true.

◆ isMimic()

bool rbd::Joint::isMimic ( ) const

inline

Returns: True if the joint is a mimic joint

◆ makeMimic()

void rbd::Joint::makeMimic	(	const std::string &	name,
		double	multiplier,
		double	offset
	)

inline

Make the joint mimic and specify mimic information.

This change cannot be reversed.

Parameters

name	Name of the joint that will be mimiced.
multiplier	Mimic multiplier
offset	Mimic offset

◆ mimicMultiplier()

double rbd::Joint::mimicMultiplier ( ) const

inline

Returns: Mimic multiplier

◆ mimicName()

const std::string& rbd::Joint::mimicName ( ) const

inline

Returns: Mimiced name

◆ mimicOffset()

double rbd::Joint::mimicOffset ( ) const

inline

Returns: Mimic offset

◆ motion()

sva::MotionVecd rbd::Joint::motion ( const std::vector< double > & alpha ) const

inline

Compute the joint velocity.

Parameters

alpha vector of generalized speed variable.

Returns: Spatial motion vector of the joint.

◆ motionSubspace()

const Eigen::Matrix<double, 6, Eigen::Dynamic>& rbd::Joint::motionSubspace ( ) const

inline

Returns: Joint motion subspace in successor frame coordinate.

◆ name()

const std::string& rbd::Joint::name ( ) const

inline

Returns: Joint name.

◆ operator!=()

bool rbd::Joint::operator!= ( const Joint & b ) const

inline

◆ operator==()

bool rbd::Joint::operator== ( const Joint & b ) const

inline

◆ params()

int rbd::Joint::params ( ) const

inline

Number of parameters of the joint.

Returns: Number of generalized position variable.

◆ pose()

template<typename T >

sva::PTransform< T > rbd::Joint::pose ( const std::vector< T > & q ) const

inline

Compute the joint transformation from predecessor to successor frame.

Parameters

q	vector of generalized position variable.

Returns: Spatial transformation from predecessor to successor frame.

◆ sMotion()

sva::MotionVecd rbd::Joint::sMotion ( const std::vector< double > & alpha ) const

inline

Safe version of motion method.

See also: motion

Exceptions

std::domain_error If the number of generalized speed variable is wrong.

◆ sPose()

sva::PTransformd rbd::Joint::sPose ( const std::vector< double > & q ) const

inline

Safe version of pose method.

See also: pose

Exceptions

std::domain_error If the number of generalized position variable is wrong.

◆ sTanAccel()

sva::MotionVecd rbd::Joint::sTanAccel ( const std::vector< double > & alphaD ) const

inline

Safe version of tanAccel method.

See also: tanAccel

Exceptions

std::domain_error If the number of generalized acceleration variable is wrong.

◆ tanAccel()

sva::MotionVecd rbd::Joint::tanAccel ( const std::vector< double > & alphaD ) const

inline

Compute the tangential part of the acceleration S*alphaD.

Parameters

alphaD vector of generalized acceleration variable.

Returns: Tangential part of acceleration

◆ type()

Type rbd::Joint::type ( ) const

inline

Returns: Joint type.

◆ zeroDof()

std::vector< double > rbd::Joint::zeroDof ( ) const

inline

Returns: Joint velocity at zero.

◆ ZeroDof()

std::vector< double > rbd::Joint::ZeroDof ( Type type )

inlinestatic

Returns: Joint velocity at zero.

◆ zeroParam()

std::vector< double > rbd::Joint::zeroParam ( ) const

inline

Returns: Joint configuation at zero.

◆ ZeroParam()

std::vector< double > rbd::Joint::ZeroParam ( Type type )

inlinestatic

Returns: Joint configuation at zero.

The documentation for this class was generated from the following file:

src/RBDyn/RBDyn/Joint.h

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ OldType

◆ Type

Constructor & Destructor Documentation

◆ Joint() [1/5]

◆ Joint() [2/5]

◆ Joint() [3/5]

◆ Joint() [4/5]

◆ Joint() [5/5]

Member Function Documentation

◆ direction()

◆ dof()

◆ forward() [1/2]

◆ forward() [2/2]

◆ isMimic()

◆ makeMimic()

◆ mimicMultiplier()

◆ mimicName()

◆ mimicOffset()

◆ motion()

◆ motionSubspace()

◆ name()

◆ operator!=()

◆ operator==()

◆ params()

◆ pose()

◆ sMotion()

◆ sPose()

◆ sTanAccel()

◆ tanAccel()

◆ type()

◆ zeroDof()

◆ ZeroDof()

◆ zeroParam()

◆ ZeroParam()